Moving Range Setting System and Moving Range Setting Method

1. A moving range setting system for setting a moving range where a mobile body is movable, the moving range setting system comprising: an environment information acquisition unit configured to acquire environment information of an environment around a self-position estimated by the mobile body; a computing apparatus configured to: store, in a storage unit, an initial entry determination setting result indicating the moving range of the mobile body, including an entry prohibited area where entry of the mobile body is prohibited or a first use area where the mobile body is usable; set an initial entry determination condition by performing learning processing with training data that is confirmed entry determination result data to which a label selected by an initial entry determination setting has been set, from among confirmed entry determination result data for which a label indicating the entry prohibited area of the mobile body or a label indicating a second use area to which the entry prohibited area belongs has been set in advance, and store the initial entry determination condition in the storage unit; input the self-position and the environment information into the initial entry determination condition and obtain an entry determination result data that is a result of an entry determination as to whether the mobile body is permitted to enter an area identified with the self-position and the environment information; and store corrective information in the storage device, in a state of being associated with the environment information acquired at the self-position; an output device, including a display screen, configured to output the entry determination result data and the environment information, including displaying an image; an input device, including at least one of a touch screen, a keyboard, and a mouse, configured to receive the initial entry determination setting and the corrective information regarding the initial entry determination setting result and/or the entry determination condition, wherein the initial entry determination setting is received before the use of the mobile body; and a server configured to perform learning that includes updating of the entry determination condition stored in the storage unit, using the corrective information stored in the storage unit, to set the moving range of the mobile body of which the movement is controlled, in accordance with the entry determination result; wherein the mobile body includes a movement control unit configured to cause the mobile body to enter the area determined that the entry is permitted, based on the entry determination condition updated, and configured to cause the mobile body to detour the area determined that the entry is prohibited, based on the entry determination condition updated; wherein the learning processing of the entry determination condition determines a plurality of variables consisting of weighting coefficients and shift quantities using iterative calculations to reduce output error to obtain a function formula which takes a plurality of variations of the environmental information including the image as input and outputs the entry determination result of determining whether or not the mobile body can be entered; wherein the environment information acquisition unit acquires auxiliary environment information of an environment around the mobile body, the auxiliary environment information being input to the entry determination condition in conjunction with the environment information; wherein the computing apparatus outputs, in addition to the environment information, an entry determination result that is a result of an entry determination as to whether the entry of the mobile body is permitted, the entry determination result being obtained by inputting the auxiliary environment information to the entry determination condition; and wherein the auxiliary environment information includes information on illuminance around the mobile body, the illuminance being measured by an illuminance meter in the mobile body, or information on a distance to a target object, the distance being measured by a distance meter in the mobile body, at a position where the environment information acquisition unit acquires the environment information.

2. The moving range setting system according to claim 1, further comprising: an entry determination confirmation unit configured to associate the corrective information with the environment information acquired at the self-position estimated by the mobile body, and configured to store the corrective information associated, in the storage unit as a confirmed entry determination result.

3. The moving range setting system according to claim 1, wherein the environment information acquisition unit includes an image acquisition unit in the mobile body, the environment information includes an image around the mobile body, the image being acquired by the image acquisition unit, and the server updates the entry determination condition, based on the corrective information and the entry determination result obtained from the entry determination condition to which the image is input.

4. The moving range setting system according to claim 1, further comprising: an area setting unit configured to store, in the storage unit, a map on which the area defined as an entry prohibited area through the input device is set, wherein the movement control unit causes the mobile body to detour the area set as the entry prohibited area on the map.

5. The moving range setting system according to claim 4, further comprising: an entry determination display unit configured to output the map read from the storage unit and the entry determination result to the output device to cause the output device to display a management screen for managing the mobile body, and configured to, when the input device receives the corrective information, cause the output device to display, on the management screen, the map and the entry determination result obtained based on the entry determination condition modified with the corrective information.

6. The moving range setting system according to claim 1, further comprising: an initialization unit configured to initialize the moving range before use of the mobile body; and an entry determination condition setting unit configured to set the entry determination condition, based on the moving range initialized.

7. The moving range setting system according to claim 6, wherein the input device receives an item which the initialization unit sets or selects, the item including at least an area where the entry of the mobile body is prohibited and a use area where the mobile body is usable.

8. A moving range setting method for setting a moving range where a mobile body is movable, the moving range setting method comprising: acquiring environment information of an environment around a self-position estimated by the mobile body; storing, in a storage unit, an initial entry determination setting result indicating the moving range of the mobile body, including an entry prohibited area where entry of the mobile body is prohibited or a first use area where the mobile body is usable; setting an initial entry determination condition by performing learning processing with training data that is confirmed entry determination result data to which a label selected by an initial entry determination setting has been set, from among confirmed entry determination result data for which a label indicating the entry prohibited area of the mobile body or a label indicating a second use area to which the entry prohibited area belongs has been set in advance, and storing the initial entry determination condition in the storage unit; inputting the self-position and the environment information into the initial entry determination condition and obtaining an entry determination result data that is a result of an entry determination as to whether the mobile body is permitted to enter an area identified with the self-position and the environment information; storing the corrective information in the storage device, in a state of being associated with the environment information acquired at the self-position; outputting the entry determination result data and the environment information to an output device, including a display screen; receiving, by an input device including at least one of a touch screen, a keyboard, and a mouse, the initial entry determination setting and the corrective information regarding the initial entry determination setting result and the entry determination condition, wherein the initial entry determination setting is received before the use of the mobile body; and performing, by a server, learning that includes updating of the entry determination condition stored in the storage unit, using the corrective information stored in the storage unit, to set the moving range of the mobile body of which the movement is controlled, in accordance with the entry determination result; wherein the mobile body includes a movement control unit configured to cause the mobile body to enter the area determined that the entry is permitted, based on the entry determination condition updated, and configured to cause the mobile body to detour the area determined that the entry is prohibited, based on the entry determination condition updated; wherein the learning processing of the entry determination condition determines a plurality of variables consisting of weighting coefficients and shift quantities using iterative calculations to reduce output error to obtain a function formula which takes a plurality of variations of the environmental information including the image as input and outputs the entry determination result of determining whether or not the mobile body can be entered; wherein the environment information acquisition unit acquires auxiliary environment information of an environment around the mobile body, the auxiliary environment information being input to the entry determination condition in conjunction with the environment information; wherein the computing apparatus outputs, in addition to the environment information, an entry determination result that is a result of an entry determination as to whether the entry of the mobile body is permitted, the entry determination result being obtained by inputting the auxiliary environment information to the entry determination condition; and wherein the auxiliary environment information includes information on illuminance around the mobile body, the illuminance being measured by an illuminance meter in the mobile body, or information on a distance to a target object, the distance being measured by a distance meter in the mobile body, at a position where the environment information acquisition unit acquires the environment information.